近空间飞行器非线性容错控制技术研究
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摘要
近空间飞行器(NSV)的发展关系着国家安全和对空间的开发利用能力，具有重要的战略意义和军事价值，近年来获得了世界各军事大国的高度重视和大力投入。NSV是一种新型的航空航天飞行器，在运行中表现出多工作模式、多任务、大范围高速机动等特点，对飞行安全性与可靠性提出了更高的要求，使其控制系统的可靠性设计成为一项极具挑战的前沿课题。基于此难点和挑战，本文围绕这一基础科学问题，在近空间飞行器动态建模，故障建模与分析，可靠容错控制器设计等方面展开了较为全面的研究，基于先进非线性控制理论系统而深入地研究了NSV的故障诊断与容错控制问题。
首先，根据国内外已公开发表的文献资料建立了NSV高超声速飞行条件下6自由度12状态变量的运动学和动力学模型。该模型的高超音速特征体现在气动力、力矩系数是迎角，马赫数及气动舵面偏转角的非线性函数，飞行器的质心和惯性矩是质量的时变函数，发动机模型采用吸气式发动机和火箭发动机的组合推进形式。开环系统仿真分析表明该模型能够体现出NSV复杂非线性、强耦合性、不确定性以及快速时变性等特点，具有代表意义，可以满足对NSV飞控系统进行先进容错控制问题的理论研究及仿真验证的需要。
然后，基于NSV动态模型研究了发生故障情况下的系统特征。根据飞控系统的特点，概括分析了其可能发生的故障类型：执行器故障，传感器及系统故障，及各种故障类型的参数表达式。针对飞行控制系统最常见和重要的执行器故障，考察了各气动舵面之间的冗余关系，分析了单故障及多故障并发模式下控制舵面的操纵问题，进而建立了NSV的故障数学模型，为故障诊断算法与容错控制器的设计奠定了基础。
接着，基于模糊Takagi-Sugeno(T-S)逼近理论，在全面分析NSV高速巡航段纵向模型特点的基础上，确定相应的模糊规则和隶属度函数，建立了NSV纵向动态模型的模糊T-S模型。然后，考虑执行器发生故障的情况，提出了一种基于滑模观测器（SMO）思想的执行器故障诊断与容错控制方法。设计了一组滑模观测器，利用滑模观测器的输出与执行器的实际输出构造包含故障信息的残差信号用于检测故障，同时对故障估计作了进一步的研究，利用估计到的故障信息来调节故障，重构控制器。所设计的参数借助MATLAB的线性矩阵不等式(LMI)来求解，并基于Lyapunov理论证明了闭环系统所有误差信号均能以指数形式收敛到零。仿真验证结果表明，所提算法能有效地实现故障的检测、估计，并达到了容错控制的目标。
随后，提出了一种基于自适应观测器思想的故障诊断与容错控制策略来处理近空间飞行器的执行器故障问题。基于NSV纵向模糊T-S模型设计自适应故障诊断观测器（AFDO），定义AFDO的输出和实际系统输出误差的范数作为残差来检测故障。进一步，研究了执行器失效故障，常值故障，时变故障等情况下的各种自适应故障估计算法，基于诊断到的故障信息，分别设计了容错控制器来补偿执行器故障对系统性能的影响。AFDO的增益矩阵通过求解线性矩阵不等式得到，故障估计参数采用自适应律调节，基于Lyapunov理论证明了误差系统的稳定性。最后，在NSV纵向模型平台上进行算法验证，结果表明所设计的方法不但可以及时地检测出故障，准确地估计故障，而且可以达到较好的容错控制性能。
之后，利用神经网络（NN）对未知非线性函数的良好逼近能力，与Backstepping控制思想结合提出了一种新的鲁棒自适应容错控制结构。考虑设计Backstepping控制器，在此基础上利用径向基神经网络来逼近未知非线性不确定及故障项，设计自适应调节律来获取神经网络的参数，进而可以在Backstepping控制器中补偿不确定及故障的影响，改善系统性能。基于Lyapunov理论对自适应调节律作用下的闭环系统所有误差信号的最终有界性进行了严格地证明。上述方案在NSV再入姿态模型平台上进行了仿真验证，结果表明所设计的算法不仅可以容忍和补偿故障，而且对系统不确定性具有鲁棒性，具有非常优异的控制性能。NN逼近和补偿策略使得当前Backstepping方法获得了很大的发展，同时该方法具有广泛的适用性。
最后，提出了一种基于滑模变结构控制技术的容错跟踪控制方法。滑模变结构控制器的不连续性特点使其能够克服被控系统的不确定性，对非线性系统的控制具有良好的控制效果。本文结合NSV再入姿态模型的特点，研究了基于奇异摄动理论构造快、慢回路并分步设计的策略，针对带有执行机构故障的快变量回路和带有不确定干扰的慢变量回路，分别构造滑模面来设计鲁棒容错控制器，使得所设计的全局控制器不但能渐近调节系统执行器故障所造成的影响，而且具有对不确定性干扰因素的不变性，即具有容错性能和鲁棒性，应用李亚普诺夫理论证明了误差系统在所设计的容错控制策略作用下的稳定性。仿真结果表明所提方法能抑制不确定，调节故障，从而准确跟踪状态轨迹和实现整体稳定，且具有较大的应用价值。
Near space vehicle (NSV) plays an important role on national military security and theexploitation of space, and it have attracted more and more attention from many countries in the world.The NSV shows some unique characteristics during its operation, such as, multi-flighing states,multi-tasking modes, large flight envelop and so on. Moreover, the especial and complex flightenvironment makes it a challenging problem to guarantee its security and reliability. Thus, the faulttolerant control design for NSV flight control system is an innovative and challenging topic. In thisdissertation, it carries on some investigations in NSV dynamical modeling and faulty modelinganalysis, and it mainly focuses on the fault diagnosis and fault tolerant control design for NSV controlsystem based on advanced nonlinear control.
First, the flight motion nonlinear model of NSV with six degrees of freedom and twelve statevariables is established and analyzed. The coefficients of aerodynamic force and moment arepresented as nonlinear fuctions of Mach number, angle of attack, and control surface deflections, andthe moment of inertia and center of gravity are functions of the vehicle’s weight. The propulsiondevice uses the combination of athodyd and rocket engine. The state responses of open-loop dynamicsindicate that the presented model can describe the characteristics of NSV. Thus, the model can be usedas the theoretical analysis and simulation platform.
Then, all the possible fault types of flight control system, including actuator fault, sensor faultand system fault, are presented and analyzed, and the characteristics of faulty models are provided inthe form of parameterized model. Otherwise, the control allocation problem of NSV dynamics isanalyzed, and actuator fault modes are also introduced. It makes a contribution to designing faultdiagnosis scheme and fault tolerant control.
Next, a T-S fuzzy model for the nonlinear dynamics of NSV is established based on T-S fuzzymodeling technique, by selecting proper fuzzy rules and operation points. Then, a fault tolerantcontrol (FTC) strategy is proposed for NSV with actuator fault using sliding mode observer technique,and a set of sliding mode observers are designed to generate residuals which contain the faultinformation. Then, a novel fault diagnostic algorithm is given to estimate the actuator fault occurred.Utilizing the obtained on-line fault estimation information, a fault accommodation scheme isdeveloped to compensate for the effects of actuator fault. Based on Lyapunov stability theory, asufficient condition to guarantee the stability of closed-loop system is derived in terms of linearmatrix inequalities (LMIs), which can be easily solved by Matlab LMI toolbox. Finally, simulationresults are presented to demonstrate the efficiency of the proposed approach.
Later, a fault diagnosis and active FTC approach is investigated based on adaptive methodology to deal with actuator fault problem of NSV. An adaptive fault diagnosis observer (AFDO) is firstdesigned, the residual is defined as the norm of the output error between AFDO and actual system todetect the actuator fault, and an adaptive fault estimation algorithm is proposed to estimate the fault. Afeasible adaptive algorithm is explored and it is shown that observer parameters can be obtained bysolving LMIs. An active FTC is designed by utilizing the diagnostic fault information to compensatefor the loss of actuator effectiveness. Finally, simulation results on the longitudinal model of NSV arepresented to demonstrate that the proposed approach not only can detect and estimate the faultefficiently, but also accommodate and tolerate the fault.
Further, a FTC scheme based on backstepping and neural network (NN) methodology isproposed for NSV attitude dynamical model. The linearly parameterized radial basis function (RBF)NNs are employed to approximate unknown system faults and disturbance respectively, and thenetwork weights are adapted using adaptive on-line parameter-learning algorithms. Then an adaptivebackstepping based FTC is designed to compensate for the effect of system faults. The asymptoticalstability of the closed-loop system and uniform boundedness of the state tracking errors are provedaccording to Lyapunov theory. Finally, the designed strategy is applied to NSV attitude dynamics, andsimulation results are presented to demonstrate that the proposed approach can compensate for theeffects of both fault and uncertainties. The implantation of NN expands the applications ofbackstepping method.
Finally, a robust tracking FTC scheme based on adaptive sliding mode technique is proposed. Amodified sliding model tracking control approach, using a continuous strategy of integral slidingmode control (SMC), is designed to improve the position tracking precision. This scheme can solvethe chattering problem without loss of robustness and control accuracy. The SMC is robust tounmeasurable uncertainties and disturbances, and the actuator fault is compensated for by an integralaction term. The stability of the closed-loop system is proved according to Lyapunov theory. To verifythe effectiveness and application value of the proposed control scheme, a numerical simulation isperformed on NSV attitude system in re-entry mode. Simulation results demonstrate that the systemhas good tracking performance in spite of the actuator fault and system disturbances.
首先，根据国内外已公开发表的文献资料建立了NSV高超声速飞行条件下6自由度12状态变量的运动学和动力学模型。该模型的高超音速特征体现在气动力、力矩系数是迎角，马赫数及气动舵面偏转角的非线性函数，飞行器的质心和惯性矩是质量的时变函数，发动机模型采用吸气式发动机和火箭发动机的组合推进形式。开环系统仿真分析表明该模型能够体现出NSV复杂非线性、强耦合性、不确定性以及快速时变性等特点，具有代表意义，可以满足对NSV飞控系统进行先进容错控制问题的理论研究及仿真验证的需要。
然后，基于NSV动态模型研究了发生故障情况下的系统特征。根据飞控系统的特点，概括分析了其可能发生的故障类型：执行器故障，传感器及系统故障，及各种故障类型的参数表达式。针对飞行控制系统最常见和重要的执行器故障，考察了各气动舵面之间的冗余关系，分析了单故障及多故障并发模式下控制舵面的操纵问题，进而建立了NSV的故障数学模型，为故障诊断算法与容错控制器的设计奠定了基础。
接着，基于模糊Takagi-Sugeno(T-S)逼近理论，在全面分析NSV高速巡航段纵向模型特点的基础上，确定相应的模糊规则和隶属度函数，建立了NSV纵向动态模型的模糊T-S模型。然后，考虑执行器发生故障的情况，提出了一种基于滑模观测器（SMO）思想的执行器故障诊断与容错控制方法。设计了一组滑模观测器，利用滑模观测器的输出与执行器的实际输出构造包含故障信息的残差信号用于检测故障，同时对故障估计作了进一步的研究，利用估计到的故障信息来调节故障，重构控制器。所设计的参数借助MATLAB的线性矩阵不等式(LMI)来求解，并基于Lyapunov理论证明了闭环系统所有误差信号均能以指数形式收敛到零。仿真验证结果表明，所提算法能有效地实现故障的检测、估计，并达到了容错控制的目标。
随后，提出了一种基于自适应观测器思想的故障诊断与容错控制策略来处理近空间飞行器的执行器故障问题。基于NSV纵向模糊T-S模型设计自适应故障诊断观测器（AFDO），定义AFDO的输出和实际系统输出误差的范数作为残差来检测故障。进一步，研究了执行器失效故障，常值故障，时变故障等情况下的各种自适应故障估计算法，基于诊断到的故障信息，分别设计了容错控制器来补偿执行器故障对系统性能的影响。AFDO的增益矩阵通过求解线性矩阵不等式得到，故障估计参数采用自适应律调节，基于Lyapunov理论证明了误差系统的稳定性。最后，在NSV纵向模型平台上进行算法验证，结果表明所设计的方法不但可以及时地检测出故障，准确地估计故障，而且可以达到较好的容错控制性能。
之后，利用神经网络（NN）对未知非线性函数的良好逼近能力，与Backstepping控制思想结合提出了一种新的鲁棒自适应容错控制结构。考虑设计Backstepping控制器，在此基础上利用径向基神经网络来逼近未知非线性不确定及故障项，设计自适应调节律来获取神经网络的参数，进而可以在Backstepping控制器中补偿不确定及故障的影响，改善系统性能。基于Lyapunov理论对自适应调节律作用下的闭环系统所有误差信号的最终有界性进行了严格地证明。上述方案在NSV再入姿态模型平台上进行了仿真验证，结果表明所设计的算法不仅可以容忍和补偿故障，而且对系统不确定性具有鲁棒性，具有非常优异的控制性能。NN逼近和补偿策略使得当前Backstepping方法获得了很大的发展，同时该方法具有广泛的适用性。
最后，提出了一种基于滑模变结构控制技术的容错跟踪控制方法。滑模变结构控制器的不连续性特点使其能够克服被控系统的不确定性，对非线性系统的控制具有良好的控制效果。本文结合NSV再入姿态模型的特点，研究了基于奇异摄动理论构造快、慢回路并分步设计的策略，针对带有执行机构故障的快变量回路和带有不确定干扰的慢变量回路，分别构造滑模面来设计鲁棒容错控制器，使得所设计的全局控制器不但能渐近调节系统执行器故障所造成的影响，而且具有对不确定性干扰因素的不变性，即具有容错性能和鲁棒性，应用李亚普诺夫理论证明了误差系统在所设计的容错控制策略作用下的稳定性。仿真结果表明所提方法能抑制不确定，调节故障，从而准确跟踪状态轨迹和实现整体稳定，且具有较大的应用价值。
Near space vehicle (NSV) plays an important role on national military security and theexploitation of space, and it have attracted more and more attention from many countries in the world.The NSV shows some unique characteristics during its operation, such as, multi-flighing states,multi-tasking modes, large flight envelop and so on. Moreover, the especial and complex flightenvironment makes it a challenging problem to guarantee its security and reliability. Thus, the faulttolerant control design for NSV flight control system is an innovative and challenging topic. In thisdissertation, it carries on some investigations in NSV dynamical modeling and faulty modelinganalysis, and it mainly focuses on the fault diagnosis and fault tolerant control design for NSV controlsystem based on advanced nonlinear control.
First, the flight motion nonlinear model of NSV with six degrees of freedom and twelve statevariables is established and analyzed. The coefficients of aerodynamic force and moment arepresented as nonlinear fuctions of Mach number, angle of attack, and control surface deflections, andthe moment of inertia and center of gravity are functions of the vehicle’s weight. The propulsiondevice uses the combination of athodyd and rocket engine. The state responses of open-loop dynamicsindicate that the presented model can describe the characteristics of NSV. Thus, the model can be usedas the theoretical analysis and simulation platform.
Then, all the possible fault types of flight control system, including actuator fault, sensor faultand system fault, are presented and analyzed, and the characteristics of faulty models are provided inthe form of parameterized model. Otherwise, the control allocation problem of NSV dynamics isanalyzed, and actuator fault modes are also introduced. It makes a contribution to designing faultdiagnosis scheme and fault tolerant control.
Next, a T-S fuzzy model for the nonlinear dynamics of NSV is established based on T-S fuzzymodeling technique, by selecting proper fuzzy rules and operation points. Then, a fault tolerantcontrol (FTC) strategy is proposed for NSV with actuator fault using sliding mode observer technique,and a set of sliding mode observers are designed to generate residuals which contain the faultinformation. Then, a novel fault diagnostic algorithm is given to estimate the actuator fault occurred.Utilizing the obtained on-line fault estimation information, a fault accommodation scheme isdeveloped to compensate for the effects of actuator fault. Based on Lyapunov stability theory, asufficient condition to guarantee the stability of closed-loop system is derived in terms of linearmatrix inequalities (LMIs), which can be easily solved by Matlab LMI toolbox. Finally, simulationresults are presented to demonstrate the efficiency of the proposed approach.
Later, a fault diagnosis and active FTC approach is investigated based on adaptive methodology to deal with actuator fault problem of NSV. An adaptive fault diagnosis observer (AFDO) is firstdesigned, the residual is defined as the norm of the output error between AFDO and actual system todetect the actuator fault, and an adaptive fault estimation algorithm is proposed to estimate the fault. Afeasible adaptive algorithm is explored and it is shown that observer parameters can be obtained bysolving LMIs. An active FTC is designed by utilizing the diagnostic fault information to compensatefor the loss of actuator effectiveness. Finally, simulation results on the longitudinal model of NSV arepresented to demonstrate that the proposed approach not only can detect and estimate the faultefficiently, but also accommodate and tolerate the fault.
Further, a FTC scheme based on backstepping and neural network (NN) methodology isproposed for NSV attitude dynamical model. The linearly parameterized radial basis function (RBF)NNs are employed to approximate unknown system faults and disturbance respectively, and thenetwork weights are adapted using adaptive on-line parameter-learning algorithms. Then an adaptivebackstepping based FTC is designed to compensate for the effect of system faults. The asymptoticalstability of the closed-loop system and uniform boundedness of the state tracking errors are provedaccording to Lyapunov theory. Finally, the designed strategy is applied to NSV attitude dynamics, andsimulation results are presented to demonstrate that the proposed approach can compensate for theeffects of both fault and uncertainties. The implantation of NN expands the applications ofbackstepping method.
Finally, a robust tracking FTC scheme based on adaptive sliding mode technique is proposed. Amodified sliding model tracking control approach, using a continuous strategy of integral slidingmode control (SMC), is designed to improve the position tracking precision. This scheme can solvethe chattering problem without loss of robustness and control accuracy. The SMC is robust tounmeasurable uncertainties and disturbances, and the actuator fault is compensated for by an integralaction term. The stability of the closed-loop system is proved according to Lyapunov theory. To verifythe effectiveness and application value of the proposed control scheme, a numerical simulation isperformed on NSV attitude system in re-entry mode. Simulation results demonstrate that the systemhas good tracking performance in spite of the actuator fault and system disturbances.
引文
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